2007 LEXUS GX470 Steering Problems

WHILE I WAS DRIVING MY VEHICLE THE VSC,ABS,AND ETC LIGHTS CAME ON,THIS IS NOT THE FIRST TIME THAT THIS HAD HAPPENED,THE LIGHTS HAS CAME ON BEFORE WHILE AT A STOP LIGHT AND IN PARK.THE VEHICLE NOW WILL NOT GO INTO GEAR IT ONLY STAYS IN PARK.IT STILL WILL START BUT CAN'T DRIVE BECAUSE IT WON'T GO INTO GEAR. THE CAR ALSO WAS PULLING TO THE SIDE WHILE DRIVING AND ON SEVERAL OCCASIONS IT WOULD NOT START AT ALL FOR WHATEVER REASON .I SEARCHED GOOGLE AND YOUTUBE AND SOMEONE SAID TO UNPLUG THE BATTERY FOR 30 MINUTES AND IT SHOULD START AND IT DID. I FORGOT WHAT THEY SAID THE CAUSE OF IT,I THINK THEY SAID THE EMS NEEDED TO BE RESET.I DON'T THINK THESE THINGS SHOULD BE HAPPENING BUT EVERY TIME IT DOES IT HAPPENS IN THE SAME PATTERN AND WE HAVE TO RESET THE EMS .THE GEAR JUST RECENTLY...